Lidar system that is configured to compute ranges with differing range resolutions

ABSTRACT

A lidar system is described herein. The lidar system includes a transmitter that is configured to emit a frequency-modulated lidar signal. The lidar system further includes processing circuitry that is configured to compute a distance between the lidar system and an object based upon the frequency-modulated lidar signal, the processing circuitry configured to compute the distance with a first resolution when the distance is at or beneath a predefined threshold, the processing circuitry configured to compute the distance with a second resolution when the distance is above the predefined threshold, wherein the first resolution is different from the second resolution.

RELATED APPLICATION

This application is a continuation of U.S. patent application Ser. No.16/227,770, filed on Dec. 20, 2018, and entitled “LIDAR SYSTEM THAT ISCONFIGURED TO COMPUTE RANGES WITH DIFFERING RANGE RESOLUTIONS”, theentirety of which is incorporated herein by reference.

BACKGROUND

Autonomous vehicles (AVs) are vehicles that are able to travel overroadways without a human driver. An exemplary AV includes several typesof sensor systems, including but not limited to a camera-based system, aglobal positioning systems (GPS), a radar system, a lidar system, etc.These sensor systems output sensor signals that are indicative ofparameters of an environment in which the AV is traveling. The exemplaryAV further includes a computing system that is configured to controloperation of mechanical systems of the AV based upon the sensor signalsoutput by the sensor systems. Exemplary mechanical systems include, butare not limited to, a propulsion system (e.g., an electric motor, acombustion engine, a hybrid propulsion system, etc.), a braking system,and a steering system.

Reference is now made more specifically to operation of the lidar sensorsystem in the AV. Conventionally, the lidar sensor system is employed inseveral use cases, including object detection and avoidance,localization, and detection of ground truth. These different use casesoperate in different range regimes and also require different rangeresolution. For example, with respect to an object (such as a vehicle orpedestrian) that is between 100 m and 200 m away from the AV, it may besufficient to detect the object at a resolution of 5 cm to identify andtrack the object over time. Contrarily, to localize the AV in ageographic region at a desired accuracy (by comparing lidar outputs witha predefined map), it may be necessary to detect objects in a scene thatare at a distance of between 35 m and 45 m from the autonomous vehicleat a resolution of 1 cm. Accordingly, and generally, it is desirable tocompute distances to objects that are closer to the AV at a moregranular resolution than is necessary when computing distances toobjects that are further from the AV.

Accordingly, a conventional AV can include multiple sensor systems (onesensor system for each range). Therefore, in a specific example, the AVmay include a first sensor system that is configured to computedistances to objects in a first range (e.g., 0-50 m) at a firstresolution, and may include a second sensor system that is configured tocompute distances to objects in a second range (e.g., 50-200 m) at asecond resolution that is more coarse than the first resolution. Thisadds complexity and expense to the AV.

An exemplary type of lidar system that can be included in an AV is afrequency-modulated continuous wave (FMCW) lidar system. An FMCW lidarsystem exhibits several advantages over a direct time-of-flight (TOF)lidar system. For instance, the FMCW lidar system employs a coherentdetection method, and therefore the FMCW lidar system is generallyimmune to interference, while performance of the TOF lidar system may benegatively impacted due to interference. Additionally, for the sameoutput power per photon budget, the FMCW lidar system is able to achievehigher signal-to-noise compared to the TOF lidar system. In theconventional FMCW lidar system, however, once electronics and maximumdetectable distance are set, resolution is independent of distance of anobject from the lidar system. Put differently, resolution at whichdistance can be computed by the FMCW lidar system is the same across theentire sensing range of the FMCW lidar system. Hence, if it is desirableto both use FMCW lidar systems and have different range resolutions,multiple FMCW lidar systems having overlapping fields of view must beemployed (e.g., one FMCW lidar system for short-range sensing and oneFMCW lidar system for long-range sensing).

SUMMARY

The following is a brief summary of subject matter that is described ingreater detail herein. This summary is not intended to be limiting as tothe scope of the claims.

Described herein is a lidar system that is particularly well-suited foruse in an autonomous vehicle (AV) (although other applications arecontemplated). The lidar system described herein is configured tocompute a distance between the lidar system and an object with aresolution that is dependent upon the distance between the object andthe lidar system. For example, when the object is between 0 and 90 mfrom the lidar system, the lidar system can be configured to compute thedistance with a first resolution (e.g., a resolution of 1 cm), whilewhen the object is between 90 m and 200 m from the lidar system, thelidar system is configured to compute the distance with a secondresolution (e.g., 5 cm) that is different from the first resolution. Theability to compute distances within different ranges with differentresolutions is enabled through use of a piecewise linear modulationscheme, such that a lidar signal generated and emitted by the lidarsystem includes a frequency modulation (chirp) that has an up-chirp anda down-chirp (monotonically increasing or decreasing in frequency,respectively), and further wherein at least the up-chirp includesmultiple linear segments that have different slopes. In a nonlimitingexample, the up-chirp can include a first segment and a second segmentthat immediately succeeds the first portion, wherein the first segmenthas a first slope and the second segment has a second slope, and furtherwherein the first slope is greater than the second slope (i.e., the rateof change of frequency in the first segment of the up-chirp is greaterthan the rate of change of frequency in the second segment of theup-chirp).

As will be described in greater detail herein, the lidar system splitsthe lidar signal into two signals: a local oscillator (LO) that is keptlocal to the system, and an emitted signal that is transmitted into theworld and may reflect from an object in the field of view of the lidarsystem, resulting in a return reflection. At the lidar system, thereturn reflection constructively interferes with the LO, and a sensoroutputs an analog sensor signal that is indicative of such interference.An analog-to-digital converter (ADC) converts the analog signal to adigital signal (at a sampling rate of the ADC), and processing circuitryof the lidar system performs a Fast Fourier Transform (FFT) over aportion of the digital signal that corresponds to a period of the chirp,thereby forming a frequency signal that identifies one or more beatsignals when the object is within the maximum range of the lidar system.A beat signal is indicative of an instantaneous difference between thefrequency of the LO and the frequency of the return reflection.

Due to the piecewise linear nature of the up-chirp, two beat frequenciesare represented in the frequency signal when the object is within afirst range, while one beat frequency is represented in the frequencysignal when the object is within a second range (which isnon-overlapping with the first range). Once the range is detected, theprocessing circuitry of the lidar system performs different processingdepending upon the detected range, such that lidar system computes thedistance to the object with a first resolution when the object is withinthe first range and computes the distance to the object with a secondresolution when the object is within the second range. Hence, in anexample, when the processing circuitry determines that an object isbetween 0 and 90 m from the lidar system, the processing circuitrycomputes the distance with a first resolution; contrarily, when theprocessing circuitry determines that the object is between 90 and 200 mfrom the lidar sensor system, the processing circuitry computes thedistance to the object at a second resolution that is less granular thanthe first resolution.

The above summary presents a simplified summary in order to provide abasic understanding of some aspects of the systems and/or methodsdiscussed herein. This summary is not an extensive overview of thesystems and/or methods discussed herein. It is not intended to identifykey/critical elements or to delineate the scope of such systems and/ormethods. Its sole purpose is to present some concepts in a simplifiedform as a prelude to the more detailed description that is presentedlater.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a functional block diagram of an exemplary autonomous vehicle(AV) that includes a lidar system, wherein the lidar system isconfigured to compute distances between the lidar system and objects ina field of view of the lidar system with range resolutions that are afunction of such distances.

FIG. 2 is a functional block diagram of an exemplary lidar system.

FIG. 3 is a chart that illustrates a local oscillator (LO), a firstreturn reflection, and a second return reflection, wherein the LO andreturn reflections exhibit a piecewise linear frequency modulationscheme that is employed to generate lidar signals.

FIG. 4 illustrates a frequency signal that corresponds to the LO and thefirst reflected return depicted in FIG. 3.

FIG. 5 illustrates a frequency signal that corresponds to the LO and thesecond reflected return depicted in FIG. 3.

FIG. 6 is a flow diagram illustrating an exemplary methodology forgenerating a lidar signal that includes a piecewise linear up-chirp.

FIG. 7 is a flow diagram illustrating an exemplary methodology forcomputing a distance to an object based upon a return reflection.

FIG. 8 is a flow diagram illustrating an exemplary methodology forcomputing distances to different objects at different ranges withdifferent range resolutions.

FIG. 9 is a chart that illustrates an LO and a return reflection when aconventional linear modulation scheme is employed to generate lidarsignals.

FIG. 10 illustrates a frequency signal that corresponds to the LO andthe reflected return depicted in FIG. 9.

DETAILED DESCRIPTION

Various technologies pertaining to a lidar system that is configured tocompute distances to objects, wherein the distances are computed withdifferent resolutions depending upon the distances to the objects, arenow described with reference to the drawings, wherein like referencenumerals are used to refer to like elements throughout. In the followingdescription, for purposes of explanation, numerous specific details areset forth in order to provide a thorough understanding of one or moreaspects. It may be evident, however, that such aspect(s) may bepracticed without these specific details. In other instances, well-knownstructures and devices are shown in block diagram form in order tofacilitate describing one or more aspects. Further, it is to beunderstood that functionality that is described as being carried out bycertain system components may be performed by multiple components.Similarly, for instance, a component may be configured to performfunctionality that is described as being carried out by multiplecomponents.

Moreover, the term “or” is intended to mean an inclusive “or” ratherthan an exclusive “or.” That is, unless specified otherwise, or clearfrom the context, the phrase “X employs A or B” is intended to mean anyof the natural inclusive permutations. That is, the phrase “X employs Aor B” is satisfied by any of the following instances: X employs A; Xemploys B; or X employs both A and B. In addition, the articles “a” and“an” as used in this application and the appended claims shouldgenerally be construed to mean “one or more” unless specified otherwiseor clear from the context to be directed to a singular form.

Further, as used herein, the term “exemplary” is intended to mean“serving as an illustration or example of something.”

Described herein is a lidar system that is particularly well-suited foruse in an autonomous vehicle (AV). The lidar system employsfrequency-modulation to generate lidar signals. In a specific example,the lidar system is a continuous wave frequency-modulated (FMCW) system.The lidar system described herein is configured to compute distancesbetween the lidar system and objects in a field of view of the lidarsystem, wherein the distances are computed with different resolutions,and further wherein the resolutions are dependent upon the distancesbetween the lidar system and the objects. For example, the lidar systemis configured to compute a distance between the lidar system and anobject that is close to the lidar system with a relatively granularresolution, while the lidar system is configured to compute a distancebetween the lidar system and an object that is far away from the lidarsystem with a relatively coarse resolution. The ability to computedistances to objects at different distances with different resolutionsis an improvement over conventional lidar systems that employ frequencymodulation to generate lidar signals, as conventional lidar systemscompute distances to objects with invariant resolution regardless of thedistance between an object and the lidar system.

With reference now to FIG. 1, an exemplary AV 100 is illustrated. The AV100 includes a lidar system 102, wherein the lidar system 102 employsfrequency modulation when generating lidar signals. For instance, thelidar system 102 can be an FMCW lidar system. While not illustrated, theAV 100 can include sensor systems of other types, such as camera-basedvision systems, infrared systems, a global positioning system (GPS),etc. The AV 100 further includes a computing system 104 that is operablycoupled to the lidar system 102, wherein the computing system 104 isconfigured to receive outputs generated by the lidar system 102. Morespecifically, the lidar system 102 is configured to output point cloudsthat are indicative of depths between the lidar system 102 and objectsin a scene being scanned by the lidar system 102.

The autonomous vehicle 100 additionally includes a vehicle system 106that is operably coupled to the computing system 104. The vehicle system106 is a mechanical system that is used to maneuver the autonomousvehicle 100; accordingly, the vehicle system 106 can be a propulsionsystem (such as an electronic motor, a combustion engine, a hybridsystem, etc.) a braking system, a steering system, or the like. Thecomputing system 104 is configured to control the vehicle system 106based upon outputs of the lidar system 102.

In the example depicted in FIG. 1, a first object 108 and a secondobject 110 are in a field of view of the lidar system 102. The firstobject 108 is at a range (distance) R1 from the lidar system 102 and thesecond object 110 is at a range R2 from the lidar system 102, wherein R2is greater than R1. In accordance with aspects described herein, thelidar system 102 can compute R1 with a first resolution and can computeR2 with a second resolution, wherein the first resolution is differentfrom the second resolution. In a specific example, the first resolutionmay be more granular than the second resolution—thus, the lidar system102 is configured to compute distances to objects that are close to thelidar system 104 with a resolution that is more granular than resolutionof distances computed for objects that are relatively far away from thelidar system 102.

Now referring to FIG. 2, a functional block diagram of the lidar system102 is illustrated. The lidar system 102 includes a transmitter 202 anda receiver 204. Generally, the transmitter 202 is configured to generateand emit a frequency-modulated lidar signal and the receiver 204 isconfigured to compute distances to objects from which emitted lidarsignals have reflected.

The transmitter 202 includes a laser source 206, such as a laser diode.The transmitter 202 further includes a modulator 208 that is configuredto frequency-modulate radiation emitted from the laser source 206. Themodulator 208 is a circuit or device (which is electrical, optical, orelectro-optical in nature) that in conjunction with the laser source 206produces a light output, wherein frequency of the light is made to vary.The shape of the frequency variation, for example a frequency chirpwhereby the frequency is altered linearly with time, can be set byadjusting the electrical and/or optical parameters of the modulator 208.The transmitter 202 further includes control circuitry 210 that isconfigured to control the modulator 208, such that the modulator 208frequency-modulates radiation emitted by the laser source 206 asdesired. Specifically, and as will be described in greater detailherein, the control circuitry 210 is configured to control the modulator208 such that a lidar signal output by the modulator 208 includes afrequency chirp, wherein the chirp comprises a piecewise linearup-chirp. More particularly, the up-chirp includes multiple linearsegments, each with a different slope (i.e., each with a different rateof change of frequency). In a still more specific example, the slopes ofthe linear segments in the up-chirp can be successively decreasingacross the up-chirp. Thus, the up-chirp includes a first linear segmentwith a first slope (i.e., a first rate of change of frequency) followedby a second linear segment with a second slope (i.e., a second rate ofchange of frequency), wherein the second slope is less than the firstslope. The down-chirp of the chirp can be a piecewise linear down-chirpwith negative slopes that correspond to the slopes of the up-chirp. Inan example, a chirp can consist of four linear segments having slopes inthe following order: ξ₁, ξ₂, −ξ₁, −ξ₂. Further, ξ₁=kξ₂, wherein k is auser-defined constant. This piecewise linear modulation scheme allowsfor the lidar system 102 to compute distances to objects withresolutions that are non-identical to one another.

The receiver 204 comprises a sensor 214, wherein the sensor 214 can be aphotodetector or any other suitable sensor that is configured to detecta lidar signal and output an analog sensor signal based upon the lidarsignal. The receiver 204 additionally comprises an analog to digitalconverter (ADC) 216 that is operably coupled to the sensor 214, whereinthe ADC 216 is configured to convert the analog sensor signal output bythe sensor 214 to a digital signal. The receiver 204 also includesprocessing circuitry 218 that is operably coupled to the ADC 216. Theprocessing circuitry 218 is configured to compute a distance between thelidar system 102 and one or more objects in a field of view of the lidarsystem 102 based upon the digital signal output by the ADC 216. Whilethe control circuitry 210 and the processing circuitry 218 areillustrated as being separate modules in different portions of the lidarsystem 102, it is to be understood that this arrangement is presentedfor purposes of explanation. For instance, the control circuitry 210 andthe processing circuitry 218 can be included in a single hardwaremodule. Further, the control circuitry 210 and/or the processingcircuitry 218 can be implemented in microprocessor(s), digital signalprocessor(s) (DSPs), application-specific integrated circuit(s) (ASICs),field-programmable gate array(s) (FPGAs), etc.

Operation of the lidar system 102 relative to a conventional lidarsystem is now described in greater detail. In a conventional FMCW lidarsystem, the frequency of radiation emitted from the lidar system ismodulated and chirped in a periodic fashion f(t), and the modulatedradiation is split into two branches, a local oscillator (LO)(represented by line 220) that is kept local to the lidar system 102 andan emitted beam (represented by line 222) that is sent out into theworld. A return reflection (represented by line 224) is captured by thesensor 214, and due to the time delay of the round-trip, theinstantaneous frequency of the return reflection 224 is

${f( {t - \frac{2R}{c}} )},$where c is the speed of light and R is the distance between the lidarsystem 102 and an object 226 from which the emitted beam 222 reflects.The return reflection 224 interferes coherently with the LO 220 at thesensor 214, resulting in the sensor 214 outputting a sensor signal thatis representative of a beat frequency

$f = {{{abs}\lbrack {{f(t)} - {f( {t - \frac{2R}{c}} )}} \rbrack}.}$

Modulation schemes used in conventional lidar systems include a sawtoothor triangular wave. Because such modulation schemes are linear, the beatfrequency remains constant. In AV settings, typically a triangle wave ispreferably used in a modulation scheme, since the return reflectionincludes radial Doppler velocity information.

Referring to FIG. 9, a chart 900 illustrating the LO 220 and the returnreflection 224 when a conventional linear modulation scheme (e.g., achirp having a triangle waveform with a period T and total bandwidthexcursion B) is employed when modulating radiation emitted from themodulator 208. A solid line 902 represents the LO 220, while a dashedline 904 represents the return reflection 222 from the object 226. Thelines 902 and 904 have a slope

${\xi = \frac{2B}{T}},$and the beat frequency f is related to ξ as follows:

$\begin{matrix}{f = {\frac{2R}{c}{\xi.}}} & (1)\end{matrix}$Thus, the range R (the distance between the lidar system 102 and theobject 226) and the beat frequency f have a linear relationship that isproportional to the slope of the chirp.

As noted above, the LO 220 and the return reflection 224 constructivelyinterfere at the sensor 214, and the sensor outputs an analog sensorsignal that is representative of a beat signal. The ADC 216 converts theanalog sensor signal to a digital signal and outputs the digital signal.The processing circuitry 218 performs an FFT on the digital signal toform what is referred to herein as a frequency signal. Referring brieflyto FIG. 10, a chart 1000 illustrating a frequency signal 1002 thatcorresponds to the LO 220 and the return reflection 224 as depicted inFIG. 9 is presented. The beat signal frequency f is the peak of thefrequency signal 1002 depicted in FIG. 10.

While the beat frequency f is analog, the resolution at which the beatfrequency f can be measured is limited by the sampling rate F_(ADC) ofthe ADC 216. More specifically, for a given capture or “pixel”, the ADC216 captures N samples at the rate of f_(ADC), and so the bin width(resolution bandwidth (RBW)) of the FFT performed by the processingcircuitry 218 is

${\Delta\; f} = {\frac{f_{ADC}}{N}.}$The range resolution ΔR at which the processing circuitry 218 cancompute the range to the object 226, without any additional resolutionenhancements in post-processing (such as peak interpolation oroversampling), is as follows:

$\begin{matrix}{{\Delta\; R} = {{\frac{c}{2\xi}\Delta\; f} = {\frac{c}{2\xi}\frac{f_{ADC}}{N}}}} & (2)\end{matrix}$Resolution enhancements used in post-processing can additionally beemployed to further improve resolution. In the limit where the period ofthe chirp T is also the pixel time N×f_(ADC)=T, Eq. (2) takes the form

${\Delta\; R} = {\frac{c}{4B}.}$When the lidar system 102 utilizes the conventional modulation schemeillustrated in FIG. 9, the range resolution is invariant across theentire range of the lidar system 102.

Now referring to FIG. 3, a chart 300 depicting a piecewise linearmodulation scheme that is employed by the lidar system 102 to allow fordifferent range resolutions is illustrated. The chart 300 includes asolid line 302 that represents the LO 220 as a function of time, adashed line 304 that represents the return reflection 224 when theobject 226 is within a short range from the lidar system 102 (e.g.,within 90 m), and a dotted line 306 that represents the returnreflection 224 when the object 226 is within a long range from the lidarsystem 102 (e.g., between 90 m and 200 m). In contrast to the up-chirpof the signal represented in FIG. 9, the up-chirp of the lidar signalemitted from the modulator 208 is piecewise linear, such that differentsegments of the up-chirp have different slopes.

For example, and with reference to the line 302, the up-chirp of the LO220 includes a first segment 308 with a first slope ξ₁ and a secondsegment 310 with a second slope ξ₂, wherein ξ₁>ξ₂. While the up-chirp isillustrated as consisting of two linear segments, it is to be understoodthat a piecewise linear up-chirp can be configured to include more thantwo linear segments (e.g., an up-chirp can include between two and fivelinear segments). In the exemplary chart 300, the up-chirp of the LO 220represented by the line 302 is specified by two parameters: 1) R_(x),the equivalent range where the lidar system 102 switches fromshort-range to long-range mode; and 2) k, the ratio of the two chirps(ξ₁=k×ξ₂), where k is user-specified (which may be equivalentlyconsidered as specifying bandwidths B₁ and B₂, which respectivelycorrespond to the segment 308 and 310). In an exemplary embodiment, k>1.In other words, successive segments in the up-chirp have decreasingslopes in order to result in a monotonically decreasing rangeresolution. As illustrated in FIG. 3, the line 304 represents a“short-range return” when the object 226 is at some distance R_(S)≤R_(x)from the lidar system 102 and the line 308 is a “long-range return” whenthe object 226 is at some distance R_(S)>R_(x) from the lidar system102. It is also to be noted that, due to signal-to-noise characteristicsassociated with the lidar system 102, effective short-range returns mayoccur for a distance R_(x), that is less than R_(x). In an exemplaryembodiment,

$R_{x^{\prime}} = {\frac{R_{x}}{2}.}$R_(x) can then be selected such that R_(x), meets the requirements ofthe application of the lidar system 102.

When the short-range return interferes with the LO 220 at the sensor214, the short-range return overlaps with both segments 308 and 310 ofthe up-chirp in the LO 220. Accordingly, the sensor 214 outputs ananalog sensor signal that exhibits two beat frequencies f_(S1) andf_(S2). These beat frequencies, as well as the associated rangeresolutions, are related by k as follows:

$\begin{matrix}{{{f_{S\; 1} = {{\frac{2R}{c}k\;\xi_{2}} = {kf}_{S\; 2}}};}{{\Delta\; R_{S\; 1}} = {{\frac{c}{2k\;\xi_{2}}\frac{f_{ADC}}{N}} = {\frac{1}{k}\Delta\; R_{S\; 2}}}}} & (3)\end{matrix}$In contrast, when the long-range return interferes with the LO 220 atthe sensor 214, the long-range return overlaps with the second segment310 but not the first segment 308; hence, the sensor 214 outputs ananalog sensor signal that represents a single beat frequency f_(L).

FIG. 4 is a chart 400 that depicts a frequency signal 402 output by theprocessing circuitry 218 when the processing circuitry 218 performs anFFT on a digital signal output by the ADC 216 when the short-rangereturn interferes with the LO 220. The frequency signal 402 has twopeaks that represent the two beat frequencies f_(S1) and f_(S2), whichare proportional to one another by k. Referring briefly to FIG. 5, achart 500 is presented that depicts a frequency signal 502 output by theprocessing circuitry 218 when the processing circuitry 218 performs anFFT on a digital signal output by the ADC 218 when the long-range returninterferes with the LO 220. The frequency signal 502 includes a singlepeak that represents the beat frequency f_(L). In FIGS. 3-5, R_(x)=90 m,k=3, the range to the object 226 that corresponds to the short-rangereturn depicted in FIG. 3 is R_(S)=30, and the range to the object 226that corresponds to the long-range return depicted in FIG. 3 isR_(L)=200.

Returning to FIG. 2, the control circuitry 210 is configured with R_(x)and k, as defined by a user and/or the computing system 104 (or someother computing system). The control circuitry 210 controls themodulator 208, such that the modulator 208 modulates radiation emittedby the laser source 206 to cause the lidar signal output from themodulator 208 to include a piecewise linear up-chirp and a piecewiselinear down-chirp (such as depicted in FIG. 3). In the example shown inFIG. 2, a beam splitter can be used to direct a portion of the lidarsignal to the sensor 214 as the LO 220 while the emitted signal 222 istransmitted out into the world. The emitted signal 222 impinges upon theobject 226, resulting in the return reflection 224 being directed backtowards the sensor 214. The return reflection 224 constructivelyinterferes with the local oscillator 220 at the sensor 214, and theanalog sensor signal output by the sensor 214 is representative of suchinterference. The ADC 216 receives the analog sensor signal andgenerates a digital signal based thereon, where the digital signal has Ndata points per chirp period T (e.g., based upon the sampling rate ofthe ADC 216). The processing circuitry 218 performs an FFT over the Ndata points, thus generating a frequency signal. The processingcircuitry 218 is further configured to perform peak detection in thefrequency signal.

When the frequency signal includes a single peak, the processingcircuitry 218 computes a range to the object 226 with a range resolutionthat is computed based upon Eq. 2, wherein the processing circuitrycomputes the range to the object 108 based upon the peak frequency inthe frequency signal. When the frequency signal includes two peaks, theprocessing circuitry 218 determines whether the two peaks are related byk. When the two peaks are not related by k, the processing circuitry 218computes a range to the object 226 based upon the stronger peak and witha resolution defined by Eq. 2. In an alternative embodiment, for amultiple return lidar scheme, a range (& resolution) can be returned foreach peak with a resolution defined by Eq. 2. When the two peaks arerelated by k, the range is computed using the second peak (i.e., thepeak with frequency f_(S2)) with a resolution defined by Eq. 3. Theprocessing circuitry 218 outputs a computed range value, whereinresolution of the range value is a function of a distance between thelidar system 102 and the object 226. As indicated previously, thecomputing system 104 can then control the vehicle system 106 based uponcomputed range values output by the processing circuitry 218.

It is also contemplated that R_(x) can be dynamically altered, dependingupon content of the scene being imaged by the lidar system 102. Hence,for example, the computing system 104 can track objects based uponoutput of the lidar system 102—depending upon location(s) of object(s)how the location(s) of the object(s) change over time, the computingsystem 104 can cause R_(x) to be altered, such that the resolution(s)and/or resolution range(s) can be altered (e.g., to allow for object(s)to be tracked more granularly, to allow object(s) in the foreground tobe better distinguished from background noise, and so forth).

FIGS. 6-9 illustrate exemplary methodologies relating to a lidar systemthat is configured to compute ranges to objects with different rangeresolutions, depending upon distances between the lidar system and theobjects. While the methodologies are shown and described as being aseries of acts that are performed in a sequence, it is to be understoodand appreciated that the methodology is not limited by the order of thesequence. For example, some acts can occur in a different order thanwhat is described herein. In addition, an act can occur concurrentlywith another act. Further, in some instances, not all acts may berequired to implement a methodology described herein.

Moreover, the acts described herein may be computer-executableinstructions that can be implemented by one or more processors and/orstored on a computer-readable medium or media. The computer-executableinstructions may include a routine, a sub-routine, programs, a thread ofexecution, and/or the like. Still further, results of acts of themethodologies may be stored in a computer-readable medium, displayed ona display device, and/or the like. As used herein, the term“computer-readable medium” does not encompass a propagated signal.

Now referring to FIG. 6, an exemplary methodology 600 performed by thecontrol circuitry 210 is presented. The methodology 600 starts at 602,and at 604 a range boundary R_(x) and an up-chirp slope ratio k arereceived. At 606, chirp segment slopes in an up-chirp are computed basedupon the factors received at 604. At 608, bandwidths for each chirpsegment are computed. For instance, when the up-chirp has two segments,bandwidths for such segments can be computed as follows:

$\begin{matrix}{{B_{1} = {k\;\xi_{2}\frac{2R_{x}}{c}}}{B_{2} = {{\xi_{2}( {\frac{T}{2} - \frac{2R_{x}}{c}} )} = {{kB}_{1}( {\frac{cT}{4R_{x}} - 1} )}}}} & (4)\end{matrix}$At 610, the bandwidths are converted to voltages, and at 612 themodulator 208 is controlled to cause the lidar system 102 to generate alidar signal that includes the chirp, where the chirp comprises anup-chirp that is generated based upon the voltages, and further whereinthe up-chirp includes multiple linear segments having different slopesthat are related by k. While the control circuitry 210 is described asbeing separate from the modulator 208, it is to be understood thatfunctions described as being undertaken by the control circuitry 210 andthe modulator 208 may be performed by a single module. The methodology600 completes at 614.

Now referring to FIG. 7, an exemplary methodology 700 that is performedby the processing circuitry 218 is illustrated. The methodology 700starts at 702, and at 704 N points of data are received from the ADC216, wherein the N points of data correspond to a time period of a chirpin a lidar signal. At 706, an FFT is performed on the N points of datato generate a frequency signal. At 708, the frequency signal is analyzedto identify any peaks therein. At 710, a determination is made regardingwhether there are two peaks in the frequency signal. If there is asingle peak (not two peaks), then the methodology 700 continues to 712,where distance to an object is computed based upon the frequency at thepeak.

If it is determined at 710 that there are two peaks in the frequencysignal, then at 714 a determination is made at to whether the two peaksare related by k (e.g., the frequency of the first peak is k times thefrequency of the second peak). If it is determined at 714 that the twopeak frequencies in the frequency signal are not related by k, then at716 distance to the object is computed based upon the stronger peak. Ifit is determined at 714 that the two peak frequencies are related by k,the methodology 700 proceeds to 718, where a distance to the object iscomputed based upon the second peak frequency (i.e., the frequency withthe lower amplitude in the frequency signal). After the distance iscomputed at 712, 716, or 718, the methodology 700 proceeds to 720, wherethe computed distance is output. The methodology 700 completes at 722.

Now referring to FIG. 8, an exemplary methodology 800 is illustrated,wherein the methodology 800 facilitates computing distances between alidar system and objects with two different resolutions, wherein theresolutions are a function of the distances between the lidar system andthe objects. The methodology 800 starts at 802, and at 804 a firstdistance to a first object is computed based upon a frequency-modulatedlidar signal, wherein the frequency-modulated lidar signal has awaveform, and further where the first distance is computed with a firstresolution. At 806, a second distance to a second object is computedbased upon a frequency-modulated lidar signal, where thefrequency-modulated lidar signal has the waveform, and further whereinthe second distance is computed with a second resolution that isdifferent from the first resolution. The methodology 800 completes at808.

Various functions described herein can be implemented in hardware,software, or any combination thereof. If implemented in software, thefunctions can be stored on or transmitted over as one or moreinstructions or code on a computer-readable medium. Computer-readablemedia includes computer-readable storage media. A computer-readablestorage media can be any available storage media that can be accessed bya computer. By way of example, and not limitation, suchcomputer-readable storage media can comprise RAM, ROM, EEPROM, CD-ROM orother optical disk storage, magnetic disk storage or other magneticstorage devices, or any other medium that can be used to store desiredprogram code in the form of instructions or data structures and that canbe accessed by a computer. Disk and disc, as used herein, includecompact disc (CD), laser disc, optical disc, digital versatile disc(DVD), floppy disk, and blu-ray disc (BD), where disks usually reproducedata magnetically and discs usually reproduce data optically withlasers. Further, a propagated signal is not included within the scope ofcomputer-readable storage media. Computer-readable media also includescommunication media including any medium that facilitates transfer of acomputer program from one place to another. A connection, for instance,can be a communication medium. For example, if the software istransmitted from a website, server, or other remote source using acoaxial cable, fiber optic cable, twisted pair, digital subscriber line(DSL), or wireless technologies such as infrared, radio, and microwave,then the coaxial cable, fiber optic cable, twisted pair, DSL, orwireless technologies such as infrared, radio and microwave are includedin the definition of communication medium. Combinations of the aboveshould also be included within the scope of computer-readable media.

Alternatively, or in addition, the functionality described herein can beperformed, at least in part, by one or more hardware logic components.For example, and without limitation, illustrative types of hardwarelogic components that can be used include Field-programmable Gate Arrays(FPGAs), Application-specific Integrated Circuits (ASICs),Application-specific Standard Products (ASSPs), System-on-a-chip systems(SOCs), Complex Programmable Logic Devices (CPLDs), etc.

What has been described above includes examples of one or moreembodiments. It is, of course, not possible to describe everyconceivable modification and alteration of the above devices ormethodologies for purposes of describing the aforementioned aspects, butone of ordinary skill in the art can recognize that many furthermodifications and permutations of various aspects are possible.Accordingly, the described aspects are intended to embrace all suchalterations, modifications, and variations that fall within the scope ofthe appended claims. Furthermore, to the extent that the term “includes”is used in either the details description or the claims, such term isintended to be inclusive in a manner similar to the term “comprising” as“comprising” is interpreted when employed as a transitional word in aclaim.

What is claimed is:
 1. A lidar system, comprising: a transmitter that isconfigured to emit a frequency-modulated lidar signal, thefrequency-modulated lidar signal includes a piecewise linear frequencyup-chirp, where the piecewise linear frequency up-chirp includes a firstportion having a first frequency slope with respect to time immediatelyfollowed by a second portion having a second frequency slope withrespect to time that is different from the first frequency slope,wherein the first frequency slope corresponds to a first distance rangeand the second frequency slope corresponds to a second distance range;and a receiver that is configured to compute a distance between anobject and the lidar system, wherein the lidar system is configured tocompute the distance with a first resolution when the object is withinthe first distance range, wherein the lidar system is configured tocompute the distance with a second resolution when the object is withinthe second distance range, wherein the first resolution is based uponthe first frequency slope and the second resolution is based upon thesecond frequency slope, and further wherein the lidar system isconfigured to update the non-overlapping ranges and correspondingresolutions for the ranges as the distance between the object and thelidar system changes over time.
 2. The lidar system of claim 1, whereina first size of the first range and a second size of the second rangeare based upon a first length of time of the first portion and a secondlength of time of the second portion, respectively.
 3. The lidar systemof claim 2, wherein the first portion is adjacent to the second portionin the piecewise linear frequency up-chirp.
 4. The lidar system of claim3, wherein the first range is adjacent to the second range.
 5. The lidarsystem of claim 4, wherein R_(x) represents a point in time in thepiecewise linear frequency up-chirp when the first portion ends and thesecond portion starts, and further wherein the transmitter is configuredto alter the point in time represented by R_(x) based upon the distancebetween the object and the lidar system.
 6. The lidar system of claim 5,further comprising a computing system that is configured to trackpositions of the object over time based upon distances computed by thereceiver, and further wherein the computing system causes thetransmitter to alter the point in time represented by R_(x) based uponthe tracked positions of the object over time.
 7. The lidar system ofclaim 6, wherein the computing system causes the transmitter to alterthe point in time represented by R_(x) such that the first size of thefirst range is decreased and the first resolution is increased.
 8. Thelidar system of claim 1, wherein the receiver is operably coupled to acomputing system of an autonomous vehicle (AV), and further wherein thecomputing system of the AV controls at least one of a steering system, abraking system, or a propulsion system based upon the distance computedby the receiver.
 9. An autonomous vehicle (AV) comprising: a lidarsystem that is configured to output distances to an object in a field ofview of the lidar system, wherein the lidar system comprises atransmitter that is configured to output a frequency-modulated lidarsignal that comprises a piecewise linear frequency up-chirp, wherein thepiecewise linear frequency up-chirp comprises a first portion that isimmediately followed by a second portion, the first portion having afirst slope and the second portion having a second slope; and acomputing system that is configured to: track positions of the objectover time based upon the distances output of the lidar system; cause thelidar system to update non-overlapping ranges and correspondingresolutions for the ranges based upon the positions of the objecttracked over time by the computing system, wherein the lidar system isconfigured to output a distance to the object with a first resolutionwhen the object is within a first range and is further configured tooutput the distance to the object with a second resolution when theobject is within a second range that is non-overlapping with the firstrange, wherein the lidar system outputs the distance to the object basedupon the frequency-modulated lidar signal, wherein the first resolutionis based upon the first slope and the second resolution is based uponthe second slope, and further wherein causing the lidar system to updatethe non-overlapping ranges and corresponding range resolutions comprisesupdating sizes of the first range and the second range and updatingresolutions for the first range and the second range.
 10. The AV ofclaim 9, wherein the computing system is further configured to controlat least one of a steering system, a braking system, or a propulsionsystem based upon the distance to the object output by the lidar system.11. The AV of claim 9, wherein the first portion ends and the secondportion begins within the piecewise linear frequency up-chirp at a pointin time that is represented by R_(x), and further wherein a size of thefirst range is based upon the point in time represented by R_(x). 12.The AV of claim 11, wherein the frequency-modulated lidar signalcomprises a sequence of piecewise linear frequency up-chirps, andfurther wherein causing the lidar system to update the non-overlappingranges and corresponding resolutions for the non-overlapping rangescomprises causing the lidar system to alter a position of the point intime represented R_(x) in different piecewise linear frequency up-chirpsin the sequence of piecewise linear frequency up-chirps.
 13. A methodperformed by a lidar system, the method comprising: emitting a firstpiecewise linear frequency up-chirp as a portion of afrequency-modulated lidar signal, wherein the first piecewise linearfrequency up-chirp includes a first portion immediately followed by asecond portion, the first portion having a first slope and the secondportion having a second slope; computing a first distance between thelidar system and an object based upon the first piecewise linearfrequency up-chirp, wherein the first distance is computed with one of afirst resolution or a second resolution depending upon the firstdistance between the lidar system and the object; emitting a secondpiecewise linear frequency up-chirp as a second portion of thefrequency-modulated lidar signal, wherein the second piecewise linearup-chirp includes a third portion immediately followed by a fourthportion, the third portion having a third slope and the fourth portionhaving a fourth slope, wherein the first slope, the second slope, thethird slope, and the fourth slope are different from one another; andcomputing a second distance between the lidar system and the objectbased upon the second piecewise linear frequency up-chirp, wherein thesecond distance is computed with one of a third resolution or a fourthresolution depending upon the second distance between the lidar systemand the object, wherein the first resolution, the second resolution, thethird resolution, and the fourth resolution are different from oneanother.
 14. The method of claim 13, further comprising: prior toemitting the second piecewise linear frequency up-chirp, defining, basedupon the first distance, a point in the second piecewise linear up-chirpwhere the third portion ends and the fourth portion begins; and emittingthe second piecewise linear frequency up-chirp responsive to definingthe point.
 15. The method of claim 13, wherein the first resolution ismore granular than the third resolution.
 16. The method of claim 13,wherein the first resolution is less granular than the third resolution.17. The method of claim 13, wherein the lidar system computes the firstdistance at the first resolution when the first distance is less than afirst predefined threshold, and further wherein the lidar systemcomputes the first distance at the second resolution when the seconddistance is greater than the first predefined threshold and less than asecond predefined threshold.
 18. The method of claim 17, wherein thelidar system computes the second distance at the third resolution whenthe second distance is less than a third predefined threshold, whereinthe third predefined threshold is less than the first predefinedthreshold.
 19. The AV of claim 9, wherein the first range is adjacent tothe second range.
 20. The AV of claim 9, wherein the piecewise linearfrequency up-chirp comprises a third portion having a third slope thatis different from the first slope and the second slope, wherein thelidar system is configured to output the distance to the object with athird resolution when the object is within a third range, wherein thethird resolution is based upon the third slope.